Publications

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Journal Papers

  1. "Planar Compliance Realized with a Hand Composed of Multiple 2-Joint Fingers" , S. Huang and J. M. Schimmels, Mechanism and Machine Theory, (July 2022), Vol. 173, doi:10.1016/j.mechmachtheory.2022.104847
  2. "Planar Compliance Realization with Two 3-Joint Serial Manipulators Connected in Parallel" , S. Huang and J. M. Schimmels, ASME Journal of Mechanisms and Robotics, (October 2022), Vol. 14, No. 5, 051007, Paper No: JMR-21-1514, doi:10.1115/1.4053284.
  3. "Compliance Realization with Serial Mechanisms Having Fixed Link Lengths" , S. Huang and J. M. Schimmels, ASME Journal of Mechanical Design, (August 2022), Vol. 144, No. 8, 083301, Paper No: MD-21-1615, doi:10.1115/1.4053819.
  4. "The Relationship between Mechanism Geometry and the Centers of Stiffness and Compliance" , S. Huang and J. M. Schimmels, Mechanism and Machine Theory, (January 2022), Vol. 167, doi:10.1016/j.mechmachtheory.2021.104565.
  5. "Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator" , R. Moore and J. M. Schimmels, ASME Journal of Mechanisms and Robotics, (June 2021), Vol. 13, No. 3, 031001, Paper No: JMR-20-1437, doi:10.1115/1.4050104.
  6. "Globally Optimal Passive Compliance Control in Manipulation Tasks Having Multiple Homotopy Classes" , J. J. Rice and J. M. Schimmels, Mechanism and Machine Theory, (December 2020), Vol. 154, doi:10.1016/j.mechmachtheory.2020.104094.
  7. "Synthesis of Planar Compliances with Mechanisms Having Six Compliant Components: Geometric Approach", S. Huang and J. M. Schimmels, ASME Journal of Mechanisms and Robotics, (June 2020) Vol. 12, No. 3, 031013, Paper No: JMR-19-1297; doi: 10.1115/1.4045648.
  8. "Multi-Homotopy Class Optimal Path Planning for Manipulation with One Degree of Redundancy" , J. J. Rice and J. M. Schimmels, Mechanism and Machine Theory, (July 2020), Vol. 149, doi:10.1016/j.mechmachtheory.2020.103834.
  9. "Geometry Based Synthesis of Planar Compliances with Redundant Mechanisms Having Five Elastic Components", S. Huang and J. M. Schimmels, Mechanism and Machine Theory, (submitted August 2018).
  10. "Geometric Construction-Based Realization of Spatial Elastic Behaviors with Parallel and Serial Mechanisms", S. Huang and J. M. Schimmels, IEEE Transactions on Robotics, (June 2018) Vol. 34, No. 3; doi:10.1109/TRO.2018.2805315.
  11. "Geometric Approach to Realization of Planar Elastic Behaviors with Mechanisms Having Four Elastic Components" , S. Huang and J. M. Schimmels, ASME Journal of Mechanisms and Robotics, (August 2018) Vol. 10, No. 4, 041004 Paper No: JMR-17-1227; doi: 10.1115/1.4039399.
  12. "Passive Compliance Control of Redundant Serial Manipulators", J. J. Rice and J. M. Schimmels, ASME Journal of Mechanisms and Robotics, (August 2018) Vol. 10, No. 4, 044507, Paper No: JMR-17-1225; doi: 10.1115/1.4039591.
  13. "Geometric Construction-Based Realization of Planar Elastic Behaviors with Parallel and Serial Mechanisms", S. Huang and J. M. Schimmels, ASME Journal of Mechanisms and Robotics, (October 2017), Vol. 9, No. 5, 051006-051006-10, Paper No: JMR-16-1373; doi: 10.1115/1.4037019.
  14. Synthesis of Point Planar Elastic Behaviors Using 3-Joint Serial Mechanisms of Specified Construction", S. Huang and J. M. Schimmels, ASME Journal of Mechanisms and Robotics, (February 2017), Vol. 9, No. 1, 011005-011005-11, Paper No: JMR-16-1122; doi: 10.1115/1.4035189.
  15. "Realization of Point Planar Elastic Behaviors Using Revolute Joint Serial Mechanisms Having Specified Link Lengths", S. Huang and J. M. Schimmels, Mechanism and Machine Theory, (September 2016), Vol. 103, doi:10.1016/j.mechmachtheory.2016.04.009. "
  16. "Realization of an Arbitrary Planar Stiffness with a Simple Symmetric Parallel Mechanism", S. Huang and J. M. Schimmels, ASME Journal of Mechanisms and Robotics, (November 2011), Vol. 3, No. 4, 041006-041006-8, doi: 10.1115/1.4004894.
  17. "Admittance Selection Conditions for Frictionless Force-Guided Assembly of Polyhedral Parts in Two Single-Point Principle Contacts", S. Huang and J. M. Schimmels, IEEE Transactions on Robotics, (April 2008), Vol. 24, No. 2, pp. 461-468.}
  18. "Spatial Admittance Selection Conditions for Frictionless Force-Guided Assembly of Polyhedral Parts in Single Principle Contacts", S. Huang and J. M. Schimmels, IEEE Transactions on Robotics, (April 2006), Vol. 22, No. 2, pp. 225-239.
  19. "The Motion of a Compliantly Suspended Rigid Body Constrained by Multi-Point Frictional Contact", S. Huang and J. M. Schimmels, ASME Journal of Dynamic Systems, Measurement and Control, (December 2005), Vol. 127, No. 4, pp. 623-632.
  20. "Admittance Selection for Force-Guided Assembly of Polygonal Parts Despite Friction", S. Huang and J. M. Schimmels, IEEE Transactions on Robotics, (October 2004), Vol. 20, No. 5, pp. 817-829.
  21. "Spatial Compliant Motion of a Rigid Body Constrained by a Frictional Contact", S. Huang and J. M. Schimmels, International Journal of Robotics Research, (September 2003), Vol. 22, No. 9, pp. 733-756.
  22. "Sufficient Conditions Used in Admittance Selection for Planar Force-Guided Assembly", S. Huang and J. M. Schimmels, IEEE Transactions on Robotics and Automation, (August 2003), Vol. 19, No. 4, pp. 737-742.
  23. "Realization of Those Elastic Behaviors that Have Compliant Axes in Compact Mechanisms", S. Huang and J. M. Schimmels, Journal of Robotic Systems, (March 2002), Vol. 19, No. 3, pp. 143-154.
  24. "The Duality in Spatial Stiffness and Compliance as Realized in Parallel and Serial Elastic Mechanisms", S. Huang and J. M. Schimmels, ASME Journal of Dynamic Systems, Measurement, and Control, (March 2002), Vol. 124, No. 1, pp. 76-84.
  25. "Achieving any Dominant Stiffness Matrix with a Parallel Elastic Mechanism of Fixed Geometry", S. Huang and J. M. Schimmels, ACTA International Journal of Robotics and Automation, (January 2002), Vol. 17, No. 1, pp. 54-62; invited paper for special issue on compliance and compliant mechanisms.
  26. "A Classification of Spatial Stiffnesses Based on the Degree of Translational-Rotational Coupling", S. Huang and J. M. Schimmels, ASME Journal of Mechanical Design, (September 2001), Vol. 123, No. 3, pp. 353-358.
  27. "Multidirectional Compliance and Constraint for Improved Robotic Deburring: Part 1 -- Improved Positioning", J. M. Schimmels, Robotics and Computer Integrated Manufacturing, (August 2001), Vol. 17, No. 4, pp. 277-286.
  28. "Multidirectional Compliance and Constraint for Improved Robotic Deburring: Part 2 -- Improved Bracing", J. M. Schimmels, Robotics and Computer Integrated Manufacturing, (August 2001), Vol. 17, No. 4, pp. 287-294.
  29. "Minimal Realizations of Spatial Stiffnesses with Parallel or Serial Mechanisms with Concurrent Axes", S. Huang and J. M. Schimmels, Journal of Robotic Systems, (March 2001) Vol. 18, No. 3, pp. 135-146.
  30. "The Eigenscrew Decomposition of Spatial Stiffness Matrices", S. Huang and J. M. Schimmels, IEEE Transactions on Robotics and Automation, (April 2000) Vol. 16, No. 2, pp. 146-156.
  31. "The Bounds and Realization of Spatial Compliances Achieved with Simple Serial Elastic Mechanisms", S. Huang and J. M. Schimmels, IEEE Transactions on Robotics and Automation, (February 2000) Vol. 16, No. 1, pp. 99-103.
  32. "Achieving an Arbitrary Spatial Stiffness with Springs Connected in Parallel", S. Huang and J. M. Schimmels, ASME Journal of Mechanical Design, (December 1998) Vol. 120, No. 4, pp. 520-526.
  33. "The Bounds and Realization of Spatial Stiffnesses Achieved with Simple Springs Connected in Parallel", S. Huang and J. M. Schimmels, IEEE Transactions on Robotics and Automation, (June 1998) Vol. 14, No. 3, pp. 466-475.
  34. "A Linear Space of Admittance Control Laws that Guarantees Force-Assembly with Friction", J. M. Schimmels, IEEE Transactions on Robotics and Automation}, (October 1997) Vol. 13, No. 5, pp. 656-667.
  35. "A Passive Mechanism that Improves Robotic Positioning Through Compliance and Constraint", J. M. Schimmels and S. Huang, Robotics and Computer-Integrated Manufacturing, (March 1996) Vol. 12, No. 1, pp. 65-71.
  36. "Force-Assembly with Friction", J. M. Schimmels and M. A. Peshkin, IEEE Transactions on Robotics and Automation, (August 1994) Vol. 10, No. 4, pp. 465-479.
  37. "Admittance Matrix Design for Force Guided Assembly", J. M. Schimmels and M. A. Peshkin, IEEE Transactions on Robotics and Automation, (April 1992) Vol. 8, No. 2, pp. 213-227.

Conference Papers

  1. "The Arched Flexure VSA: A Compact Variable Stiffness Actuator with Large Stiffness Range", J. M. Schimmels and D. R. Garces, Proceedings of the 2015 IEEE International Conference on Robotics and Automation, (pp. 220-225), Seattle, WA
  2. "Optimal Admittance Characteristics for Planar Force-Assembly of Convex Polygonal Parts", S. C. Wiemer and J. M. Schimmels, Proceedings of the 2012 IEEE International Conference on Robotics and Automation, (pp. 2578-2583), Minneapolis, MN
  3. "A Velocity Metric for Rigid-Body Planar Motion", J. M. Schimmels and L. E. Criales, Proceedings of the 2012 IEEE International Conference on Robotics and Automation, pp. 2578-2583.
  4. "Realization of a Planar Stiffness with a Simple Symmetric Parallel Mechanism", S. Huang and J. M. Schimmels, Proceedings of the ASME 2010 International Design Engineering Technical Conference & Computers and Information in Engineering Conference, (on CD-ROM) DETC2010-28329, Montreal, Canada
  5. "A Computationally Efficient Planar Rigid Body Distance Metric", J. M. Schimmels and L. E. Criales, Proceedings of the ASME 2009 International Mechanical Engineering Congress and Exposition, (on CD-ROM) IMECE2009-11585, Orlando, FL
  6. "A Computationally Efficient Planar Rigid Body Velocity Measure", L. E. Criales and J. M. Schimmels, Proceedings of the ASME 2009 International Mechanical Engineering Congress and Exposition, (on CD-ROM) IMECE2009-11602, Orlando, FL
  7. "Determining the Set of Active Constraints when a Rigid Body Compliantly Interacts with Multiple Frictional Contacts", S. Huang and J. M. Schimmels, Proceedings of the ASME 2004 International Mechanical Engineering Congress and Exposition, (on CD-ROM), Vol. 2, IMECE2004-59830, Anaheim, CA
  8. "Admittance Selection for Force-Guided Assembly of Polyhedral Parts in Single-Point Contact", S. Huang and J. M. Schimmels, Proceedings of the IEEE 2004 International Conference on Robotics and Automation, (pp. 3577-3582), New Orleans, LA
  9. "Robust Procedures for Obtaining Assembly Contact State Extremal Configurations", F. Pan and J. M. Schimmels, Proceedings of the IEEE 2004 International Conference on Robotics and Automation, (pp. 972-977), New Orleans, LA
  10. "The Spatial Motion of a Compliantly Suspended Rigid Body Constrained By Multi-Point Frictional Contact", S. Huang and J. M. Schimmels, Proceedings of the ASME 2003 International Mechanical Engineering Congress and Exposition, (on CD-ROM), Vol. 2, IMECE2003-42642, Washington, DC
  11. "Efficient Contact State Graph Generation for Assembly Applications", F. Pan and J. M. Schimmels, Proceedings of the IEEE 2003 International Conference on Robotics and Automation, (pp. 2592-2598), Taipei, Taiwan
  12. "Sufficient Conditions for Admittance to Ensure Planar Force-Assembly in Multi-Point Frictionless Contact", S. Huang and J. M. Schimmels, Proceedings of the IEEE 2003 International Conference on Robotics and Automation, (pp. 3095-3100), Taipei, Taiwan
  13. "Admittance Selection for Planar Force-Guided Assembly for Single-Point Contact with Friction", S. Huang and J. M. Schimmels, Proceedings of the IEEE 2003 International Conference on Robotics and Automation, (pp. 3082-3088), Taipei, Taiwan
  14. "The Motion of a Compliantly Suspended Rigid Body Constrained by Multi-Point Frictionless Contact", S. Huang and J. M. Schimmels, Proceedings of the ASME 2002 International Mechanical Engineering Congress and Exposition, (on CD-ROM), Vol. 2, IMECE2002-32484, New Orleans, LA
  15. "Sufficient Conditions Used in Admittance Selection for Planar Force-Guided Assembly", S. Huang and J. M. Schimmels, Proceedings of the IEEE 2002 International Conference on Robotics and Automation, (pp. 538-543), Washington, DC
  16. "The Motion of a Compliantly Suspended Rigid Body Constrained by a Frictional Surface", S. Huang and J. M. Schimmels, Proceedings of the ASME 2001 International Mechanical Engineering Congress and Exposition (on CD-ROM), Vol. 2, DSC-24609, New York, NY
  17. "Realization of an Arbitrary Elastic Behavior with a Mechanism Having Concurrent Axes", S. Huang and J. M. Schimmels, Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 69-2 (pp. 909-916), ASME 2000 International Mechanical Engineering Congress and Exposition, Orlando, FL
  18. "Spatial Compliances Achieved with Serial Elastic Mechanisms", S. Huang and J. M. Schimmels, Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 69-2 (pp. 901-908), ASME 2000 International Mechanical Engineering Congress and Exposition, Orlando, FL
  19. "Synthesis of Spatial Compliances with Simple Serial Elastic Mechanisms", S. Huang and J. M. Schimmels, Proceedings of the IEEE 2000 International Conference on Robotics and Automation, (pp. 3328-3333), San Francisco, CA
  20. "The Degree of Translational-Rotational Coupling of a Spatial Stiffness", S. Huang and J. M. Schimmels, Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 67, (pp. 787-794), ASME 1999 International Mechanical Engineering Congress and Exposition, Nashville, TN
  21. "The Extremal Properties of Spatial Stiffness Matrices", S. Huang and J. M. Schimmels, Proceedings of the IEEE 1999 International Conference on Robotics and Automation, (pp. 182-187), Detroit, MI
  22. "A Procedure for the Synthesis of Simple Spring Realizable Spatial Stiffnesses", S. Huang and J. M. Schimmels, Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 64, (pp. 637-643), ASME 1998 International Mechanical Engineering Congress and Exposition, Anaheim, CA
  23. "The Realizable Space of Spatial Stiffnesses Achieved with a Parallel Connection of Simple Springs", S. Huang and J. M. Schimmels, Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 61 (pp. 519-525), ASME 1997 International Mechanical Engineering Congress and Exposition, Dallas, TX
  24. "A Passive Mechanism that Improves Robotic Positioning Through Compliance and Constraint", J. M. Schimmels and S. Huang, Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 57 (pp. 217-223), ASME 1995 International Mechanical Engineering Congress and Exposition, San Francisco, CA
  25. "The Use of Compliance and Constraint for Improved Robotic Material Removal Processes", J. M. Schimmels, Proceedings of the IEEE 1994 International Conference on Robotics and Automation, (pp. 2627-2632), San Diego, CA
  26. "Design of an Admittance Control Law for Precision Edge Tracking in Robotic Deburring", J. M. Schimmels, Advances in Robotics, Mechatronics, and Haptic Interfaces, 1993, ASME 1993 Winter Annual Meeting (pp. 281-286), New Orleans, LA
  27. "Force-Guided Assembly", M. A. Peshkin, A. Goswami, and J. M. Schimmels, Proceedings of the 1993 Allerton Conference on Communication, Control, and Computing, (pp.231-237), Monticello, IL
  28. "The Space of Admittance Control Laws that Guarantee Force-Assembly with Friction", J. M. Schimmels and M. A. Peshkin, Proceedings of the IEEE 1993 International Conference on Robotics and Automation, (pp. 443-448), Atlanta, GA
  29. "The Robustness of an Error-Corrective Admittance Control Law with Respect to Friction", J. M. Schimmels and M. A. Peshkin, Proceedings of the IEEE 1992 International Conference on Robotics and Automation, (pp. 2361-2366), Nice, France
  30. "Force-Assemblability: Insertion of a Workpiece into a Fixture Using Contact Forces Alone", J. M. Schimmels and M. A. Peshkin, Proceedings of the IEEE 1991 International Conference on Robotics and Automation, (pp. 1296-1301), Sacramento, CA
  31. "Synthesis and Validation of Non-Diagonal Accommodation Matrices for Error-Corrective Assembly", J. M. Schimmels and M. A. Peshkin, Proceedings of the IEEE 1990 International Conference on Robotics and Automation, (pp. 714-719), Cincinnati, OH

Ph.D. Dissertations

  1. "Passive Compliance Control of Redundant Serial Manipulators", J. J. Rice, Ph.D. Dissertation, Marquette University, 2019, https://epublications.marquette.edu/dissertations_mu/831/
  2. "The Analysis and Synthesis of Spatial Compliance" S. Huang, Ph.D. Dissertation, Marquette University, 1998, https://epublications.marquette.edu/dissertations/AAI9842432/

Master Theses

  1. "Admittance Selection for Force Guided Assembly with Optimal Motion" , F. Rodriguez Anton, Master's Thesis, Marquette Universisty, 2013, https://epublications.marquette.edu/theses_open/240.
  2. "Development of a Velocity Metric for Rigid-Body Planar Motion" , Luis E. Criales Escobar, Master's Thesis, Marquette Universisty, 2009, https://epublications.marquette.edu/theses_open/4.
  3. "Optimal Admittance Characteristics for Force-Assembly of Convex Polygonal Parts" , S. C. Wiemer, Master's Thesis, Marquette Universisty, 2007.
  4. "Contact State and Extremal Configuration Identification for Force Guided Assembly" , F. Pan, Master's Thesis, Marquette Universisty, 2004, https://epublications.marquette.edu/theses/3796.
  5. "Design and Realization of a Passive Mechanism That Improves Robotic Positioning through Compliance and Constraint" , D. W. Schneider, Master's Thesis, Marquette Universisty, 1997, https://epublications.marquette.edu/theses/4095.